﻿using System.Collections;
using SimpleJSON;
using UnityEngine;
using ROSBridgeLib;
using ROSBridgeLib.nav_msgs;
using ROSBridgeLib.geometry_msgs;


public class NavGoalPublisher : BasePublisher {

    void Start()
    {
        
        topic="move_base_simple/goal";

        messageType= "geometry_msgs/PoseStamped";
     
    }  





    public PoseStampedMsg PackageMsg (Vector3 position,Quaternion rotation)
    {


        PoseStampedMsg msg=new PoseStampedMsg();

        msg.pose.position.FromVector3(position);
        msg.pose.orientation.FromQuaternion(rotation);
        msg.header._frame_id="/map";

        return msg;


    }



}
    